This study follows factorial experimental design, analyzing the interplay between perception, coverage and system level decision making.
Three independent variables are defined:
perception quality
Classical cv based classification
Model based classification
detection method
point cloud clustering
depth projection
coverage strategy
Systematic Coverage following a predefined path
Reactive Coverage by acting in real time
System-level strategy
Clean-as-you-go
Map-then-optimize
this results in a total of 16 experimental configurations, however some of these setups are fundamentally incompatible, such as Systematic coverage with a clean as you go approach. The full setup is shown in table x.
Evaluation Metrics¶
Task level metrics¶
percentage of electronics, total completion time, failed attempts, distance traveled
Component level metrics¶
detection percision and recall, localization error, coverage percentage.